Papers › Verification of L₁ Adaptive Control using Verse Library: A Case Study of Quadrotors
Verification of L₁ Adaptive Control using Verse Library: A Case Study of Quadrotors
Lin Song, Yangge Li, Sheng Cheng, Pan Zhao, Sayan Mitra, Naira Hovakimyan
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L₁ adaptive control ($L_1$AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress abstract, we discuss how existing formal verification tools can be applied to check the performance of $L_1$AC systems. We show that the theoretical transient performance and robustness guarantees of an L₁ adaptive controller for an 18-dimensional quadrotor system can be verified using the recently developed Verse reachability analysis tool. We will further consider the performance verification of $L_1$AC on systems with learning-enabled components.
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